Saturated delayed design for the chain of integrators via a transformation technique

This paper revisits the saturated delayed design for the chain of integrators. Through a suitable coordinate transformation, the saturated delayed design problem reduces to the saturated control issue, and the arbitrarily large input delay can be compensated by tuning a parameter contained in the transformation. As an application, the inertia wheel pendulum, described by a chain of integrators subject to a high-order term, is given an explicit saturated delayed controller.